Robot Dynamics and Control
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In this paper, two different control methods are developed for an operator-assisted mobile robotic system for high load applications. For high load applications of mobile robots, an accurate tire model that considers wheel slip needs to be studied to achieve robustness of the system response. First, a simple operator-manipulator coordination system is developed based on explicit force control. Then, a position controller for the platform is designed to minimize the effect of wheel slip on control performance and integrated with the force controller for the operator-manipulator subsystem based on a motion coordination scheme. Then, a new type of human-robot coordination control method is developed, in which robust force control of the manipulator and impedance control of the mobile platform are integrated to achieve robust response and smooth interaction between the operator, the manipulator and the mobile platform. In simulation, the developed methods are compared for control performance on following the operator's motion intention.